The device is simple and reliable.

Compact

• Compactness allows modularity and less energy consumption.
• Reduces power consumption without continuous stiffness motor operation.

Stiffness

• Stiffness of the joint is related to the offset ‘𝑏’ by:
• 𝐾 = 2𝑘𝑥(𝑥2+ 𝑏2).
• Stiffness of the output link is adjusted by changing a position of the first and the third block in a linear direction by the first actuator.
• Stiffness controlled by the proposed variable stiffness mechanism (VSM).
• Mechanism can be scaled based on force, stiffness, or task requirement.
• High force bandwidth enables extreme states without changing components or design.
• High range of joint/output link angle for continuous tuning.
• Energy stored during impact and released for additional energy gain.
• Robot or serial/parallel chain configuration allows modules with different cam profiles and nonlinear springs.
• Manual adjustment decouples joint stiffness and motion.